Autonomous pool cleaning robot

ABSTRACT

A kit that may include an interfacing device that includes pool sidewall interface, and a pool cleaning robot that includes a housing and a drive system. The drive system may include a drive motor system, a group of interfacing modules and a transmission system that is arranged to mechanically couple the drive motor system to the group of interfacing modules. At least one interfacing module of the group may include protuberances that are shaped to fit a non-smooth surface of the pool sidewall interface.

RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.14/501098 filing date Sep. 30, 2014 which claims the benefit of USprovisional patent Ser. No. 61/890,260 filing date Oct. 13, 2013—bothare incorporated herein by reference in its entirety.

BACKGROUND

There is a growing need to reduce the human intervention in cleaningpools. It is well known that pool cleaners or pool robots usually needto be immerged or retrieved manually from or into a swimming pool.Retrieval may be performed by grabbing and pulling the electrical or bymeans of a special pike with a hook Immersion can be performed bygrabbing and lifting the cleaner by its handle and immersing it manuallyinto the water. These are time consuming operations, difficult at times.The intention of this invention is to improve on the basic rule whichgovern the method of pool cleaner handling by introducing an almostfully automatic and autonomous pool cleaner which seldom needs anymanual intervention.

BRIEF DESCRIPTION OF THE DRAWINGS

The subject matter regarded as the invention is particularly pointed outand distinctly claimed in the concluding portion of the specification.The invention, however, both as to organization and method of operation,together with objects, features, and advantages thereof, may best beunderstood by reference to the following detailed description when readwith the accompanying drawings in which

FIG. 1A illustrates a pool cleaning robot according to an embodiment ofthe invention;

FIG. 1B illustrates a pool cleaning robot according to an embodiment ofthe invention;

FIG. 1C illustrates a pool cleaning robot according to an embodiment ofthe invention;

FIG. 1D illustrates a pool cleaning robot according to an embodiment ofthe invention;

FIG. 2A-2B illustrate an interfacing device according to an embodimentof the invention;

FIG. 2C illustrates a portion of an interfacing device according to anembodiment of the invention;

FIG. 3A illustrates a pool cleaning robot that after locationidentification and navigation to moves on a bottom of a pool towards aninterfacing element according to an embodiment of the invention;

FIG. 3B illustrates a first phase of an exit process in which fronttracks of a pool cleaning robot interface with a pool sidewall interfaceof an interfacing device while rear tracks of the pool cleaning robotare positioned on the bottom of the pool according to an embodiment ofthe invention;

FIG. 3C illustrates a second phase of an exit process in which a poolcleaning robot starts climbing a pool sidewall interface of aninterfacing device according to an embodiment of the invention;

FIG. 3D illustrates a third phase of an exit process in which fronttracks of the pool cleaning robot interface with and are parallel to anexternal surface interface while rear tracks of the pool cleaning robotinterface with and are parallel to a pool sidewall interface of aninterfacing device according to an embodiment of the invention;

FIG. 3E illustrates a fourth phase of an exit process in which fronttracks of the pool cleaning robot interface with and are oriented inrelation to an external surface interface while rear tracks of the poolcleaning robot interface with and are oriented to a pool sidewallinterface of an interfacing device according to an embodiment of theinvention;

FIG. 3F illustrates a fifth phase of an exit process in which fronttracks of the pool cleaning robot partially pass an external surfaceinterface while rear tracks of the pool cleaning robot interface withand are oriented to a pool sidewall interface of an interfacing deviceaccording to an embodiment of the invention;

FIG. 3G illustrates a sixth phase of an exit process in which the entirepool cleaning robot is out of the pool according to an embodiment of theinvention;

FIG. 4A illustrates a system according to an embodiment of theinvention;

FIG. 4B illustrates an automatic system that includes crane forextracting a pool cleaning robot, according to an embodiment of theinvention;

FIG. 4C illustrates a system according to an embodiment of theinvention;

FIG. 5A illustrates a pool cleaning robot that moves on a bottom of apool towards a hook of a crane according to an embodiment of theinvention;

FIG. 5B illustrates a first phase of an exit process during which a poolcleaning robot that is positioned on a bottom of a pool and is connectedto a hook of a crane according to an embodiment of the invention;

FIG. 5C illustrates a third phase of an exit process during which a poolcleaning robot is extracted from the pool by the crane according to anembodiment of the invention;

FIG. 5D illustrates a fourth phase of an exit process during which apool cleaning robot is placed by the crane on a base according to anembodiment of the invention;

FIG. 6A illustrates an elevator for extracting a pool cleaning robot,according to an embodiment of the invention;

FIG. 6B illustrates a head of elevator for extracting a pool cleaningrobot, according to an embodiment of the invention;

FIG. 7A illustrates a first phase of an exit process during which afterlocation identification and navigation to a pool cleaning robot ispositioned on a ramp of an elevator that is positioned in proximity to abottom of a pool according to an embodiment of the invention;

FIG. 7B illustrates a second phase of an exit process during which apool cleaning robot is positioned on a ramp of an elevator that ispositioned above the pool edge according to an embodiment of theinvention;

FIG. 7C illustrates a third phase of an exit process during which a poolcleaning robot drives away from a ramp of an elevator according to anembodiment of the invention;

FIGS. 8A-8C illustrate an elevator and various portions of the elevatoraccording to various embodiments of the invention;

FIG. 9 illustrates some portions of an elevator according to anembodiment of the invention;

It will be appreciated that for simplicity and clarity of illustration,elements shown in the figures have not necessarily been drawn to scale.For example, the dimensions of some of the elements may be exaggeratedrelative to other elements for clarity. Further, where consideredappropriate, reference numerals may be repeated among the figures toindicate corresponding or analogous elements.

SUMMERY

According to an embodiment of the invention there may be provided a poolcleaning robot for cleaning a pool, the pool cleaning robot may includea housing; and a drive system that may be arranged to move the poolcleaning robot in relation to an environment of the pool cleaning robot;wherein the environment may include the pool and an exterior surface;wherein the drive system may include a drive motor system; a group ofinterfacing modules; a transmission system that may be arranged tocouple the drive motor system to the group of interfacing modules; andan interface manipulator; wherein interfacing modules of the group maybe arranged to interface between the pool cleaning robot and theenvironment; wherein the interface manipulator may be arranged to changea spatial relationship between (a) the housing and (b) a selectedinterfacing module of the group, during an exit process during which thepool cleaning robot exits the pool.

The drive system may include a main portion and an auxiliary portion;wherein the main portion may be arranged to move the pool cleaning robotin relation to a surface of the pool; wherein the auxiliary portion maybe arranged to move the pool cleaning robot during the exit process.

The interface manipulator may be arranged to change the spatialrelationship by rotating the selected interfacing module in relation tothe housing.

The interface manipulator may be arranged to rotate the selectedinterfacing module about an axis.

The interface manipulator may be arranged to change the spatialrelationship thereby inducing the pool cleaning robot to move along theexterior surface.

The selected interfacing module may be a track.

The group of interfacing modules may include a first sub-group of tracksand a second sub-group of tracks and wherein the interface manipulatormay be arranged to change a spatial relationship between the firstsub-group of tracks and the second sub-group of tracks during the exitprocess.

The first sub-group of tracks may be arranged to be positioned inparallel to a pool sidewall interface when the pool cleaning robotclimbs the pool sidewall interface and may be arranged to be positionedin parallel to the external surface before the pool cleaning robotfinishes to climb the pool sidewall interface.

The first sub-group of tracks and the second sub-group of tracks may bearranged to be oriented in relation to a pool sidewall interface and tothe external surface before the pool cleaning robot finishes to climbthe pool sidewall interface.

At least one out of the first sub-group of tracks and the secondsub-group of tracks may be arranged to be positioned in a foldedposition when the pool cleaning robot cleans a surface of the pool; andone or more of the first sub-group of tracks and the second sub-group oftracks may be arranged to be positioned in an unfolded position duringat least one part of the exit process.

Both the first sub-group of tracks and the second sub-group of tracksmay be arranged to be positioned in a folded position when the poolcleaning robot cleans a surface of the pool; and both the firstsub-group of tracks and the second sub-group of tracks may be arrangedto be positioned in an unfolded position during at least one part of theexit process.

At least a part of the first sub-group of tracks and the secondsub-group of tracks does not contact a bottom of the pool when the poolcleaning robot cleans the bottom of the pool.

At least one interfacing module of the group may include ferromagneticelements.

At least one interfacing module of the group may include attachmentelements that may be arranged to be attached to a pool sidewallinterface on which the pool cleaning robot climbs during the exitprocess.

At least one interfacing module of the group further may includeferromagnetic elements.

The pool cleaning robot further may include a fastening element forfastening the pool cleaning robot to an elevating unit that may bearranged to elevate the pool cleaning robot outside the pool.

According to an embodiment of the invention there may be provided a poolcleaning robot for cleaning a pool, the pool cleaning robot may includea housing ; and a drive system that may be arranged to move the poolcleaning robot in relation to an environment of the pool cleaning robot;wherein the environment may include the pool and an exterior surface;wherein the drive system may include a main portion and an auxiliaryportion; wherein the auxiliary portion may be arranged to move the poolcleaning robot during an exit process during which the pool cleaningrobot exits the pool; and wherein the main portion may be arranged tomove the pool cleaning robot when the robot cleans the pool.

The auxiliary portion may be arranged to move the pool cleaning robotonly during the exit process and an entrance process during which thepool cleaning robot enters the pool.

The auxiliary portion may be arranged to move the pool cleaning robotduring the exit process, during an entrance process during which thepool cleaning robot enters the pool and during a pool surface cleaningprocess during which the pool cleaning robot cleans the surface of thepool.

The one or more interfacing modules may include a drive wheel.

The pool cleaning robot may be arranged to enter the pool withoutinterfacing with the pool sidewall interface.

The pool cleaning robot may be arranged to enter the pool by climbingdown the pool sidewall interface.

According to an embodiment of the invention there may be provided a kitthat may include a pool cleaning robot and an interfacing device;wherein the interfacing device may include a pool sidewall interface andan external surface interface; wherein the pool cleaning robot mayinclude a housing and a drive system; wherein the drive system mayinclude a drive motor system, a group of interfacing modules and atransmission system that may be arranged to mechanically couple thedrive motor system to the group of interfacing modules; and wherein atleast one interfacing module of the group may be arranged to interfacewith the pool sidewall interface and with the external surface interfaceduring an exit process that is executed when the interfacing device ispositioned in a position where the pool sidewall interface is coupled toa sidewall of a pool and the external surface interface is coupled to anexternal surface that is external to the pool; wherein during the exitprocess the pool cleaning robot exits the pool.

At least one out of the external surface interface and the pool sidewallinterface may include magnets.

Each one of the external surface interface and the pool sidewallinterface may have a non-flat surface for interfacing with the poolcleaning robot during the exit process.

The pool sidewall interface may have a non-flat surface that may bearranged to mesh with one or more interfacing module of the group duringthe exit process.

The pool sidewall interface may have a non-flat surface that may includeprotuberances that extend upwards at a non-normal degree to a horizon.

The pool sidewall interface may include transmitters for transmittingbeacons the pool cleaning robot; wherein the pool cleaning robot mayinclude a receiver for receiving the beacons and a controller fornavigating the pool cleaning robot towards the pool sidewall interfacein response to the beacons.

The interfacing device may be shaped as a mat.

The pool sidewall interface may include suction cups for coupling thepool sidewall interface to the sidewall of the pool.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

In the following detailed description, numerous specific details are setforth in order to provide a thorough understanding of the invention.However, it will be understood by those skilled in the art that thepresent invention may be practiced without these specific details. Inother instances, well-known methods, procedures, and components have notbeen described in detail so as not to obscure the present invention.

The subject matter regarded as the invention is particularly pointed outand distinctly claimed in the concluding portion of the specification.The invention, however, both as to organization and method of operation,together with objects, features, and advantages thereof, may best beunderstood by reference to the following detailed description when readwith the accompanying drawings.

It will be appreciated that for simplicity and clarity of illustration,elements shown in the figures have not necessarily been drawn to scale.For example, the dimensions of some of the elements may be exaggeratedrelative to other elements for clarity. Further, where consideredappropriate, reference numerals may be repeated among the figures toindicate corresponding or analogous elements.

Any reference in the specification to a system should be applied mutatismutandis to a method that can be executed by the system.

Because the illustrated embodiments of the present invention may for themost part, be implemented using electronic components and circuits knownto those skilled in the art, details will not be explained in anygreater extent than that considered necessary as illustrated above, forthe understanding and appreciation of the underlying concepts of thepresent invention and in order not to obfuscate or distract from theteachings of the present invention.

Any reference in the specification to a method should be applied mutatismutandis to a system capable of executing the method.

There is provided a pool cleaning robot that can, without humanintervention, exit the pool, be cleaned, can have its filter replaced,electrically charged and resume to work. In this specification the terms“autonomous”, “automatic”, “independent” and “without humanintervention” are used in an interchangeable manner.

In the following text any reference to a movement of the pool cleaningrobot (or cleaning of) a bottom of a pool may refer to a movement (orcleaning) of the pool cleaning robot along any surface of the pool(including a pool sidewall).

Autonomous Pool Cleaning Robot

Pool cleaning robots are arranged to climb sidewalls of pools but arenot arranged to exit the pools. When progressing from climbing asidewall to exiting a pool the pool cleaning robot can fall back to thefluid of the pool. Thus according to an embodiment of the inventionthere is provided a backup and securing mechanism for the pool cleaningrobot to not detach from the wall before it “settles” on the designatedscope.

The pool cleaning robot, may include conveyor systems which includesjoints which include wheels and/or caterpillar or tracks.Wheel/caterpillar or track system can be referred to as the centraldrive system and is responsible for the driving, movement and rotationof the robot around the pool and can be equivalent to the propulsionsystem of known robots of Maytronics Ltd or other vendors.

According to an embodiment of the invention to each wheel of caterpillaror track of central driving system there may be connected a pair ofauxiliary forward and/or rear arms which are pivotally attached to themain body or to the drive system's one or more sub-systems of the jointswheels and/or unique caterpillars or tracks which are used to enter andexit the water and which form an auxiliary drive system.

It can be seen that two auxiliary drive systems can turn around (all 360degrees) around the axis that connects them to the central drive wheels.The central drive wheels, propelling the robot in the water will alsohelp the entrance/exit facility dedicated but given the high friction,portability out of the water (by the pool or on pool deck) will be usingthe unique propulsion sub-system which is constructed of resistantmaterials with higher coefficients of friction and wear.

In other configurations, the tracks have hook type threads and/orinternal metal parts that can be molded in (or otherwise included in)the auxiliary drive system. The wheels can include embedded metals thatcan be included into the rigid plastic. The wheels can also be made ofhigh friction coefficient rubber that includes the metal parts.

According to an embodiment of the invention there is provided a poolcleaning robot that can autonomously exit a pool.

FIG. 1A illustrates a pool cleaning robot 10 according to an embodimentof the invention. FIG. 1B is a block diagram of a pool cleaning robot 10according to an embodiment of the invention.

The pool cleaning robot 10 includes a housing 20 and a drive system 30that is arranged to move the pool cleaning robot 10 in relation to anenvironment of the pool cleaning robot. The environment includes a poolsurface and an exterior surface.

Referring to FIG. 1B the drive system 30 may include a drive motorsystem 40, a group 50 of interfacing modules, a transmission system 60and an interface manipulator 70. The pool cleaning robot 10 alsoincludes controller 110, filtering path 112 (including an inlet, anoutlet, a filter, an impeller, a pump motor and the like), and powersource 114 (battery, turbine, generator and/or power input such as aport or a wireless charging element 114′ (not shown), a power cable(shown on cable drum reel in FIG. 4C) and the like).

The controller 110 may control the operation of the components of thepool cleaning robot. It can, for example, trigger an exit of the poolcleaning robot from the pool if sensing that a filtering unit isclogged, the battery is empty, and/or if a time for performing an exitprocess arrived.

FIG. 1A also illustrates a fastening element such as ring 120 forfastening the pool cleaning robot to an elevating unit that is arrangedto elevate the pool cleaning robot outside the pool. The ring 120 mayhave other shapes such as a handle. It may be a mechanical elementand/or a magnet.

The drive motor system 40 may include one or more drive motors. Thedrive motors may be electrical motors, hydraulic motors, or any type ofmotors that generate a mechanical movement that is harnessed from movingthe pool cleaning robot 10.

The transmission system 60 is arranged to couple the drive motor system40 to the group 50 of interfacing modules. The transmission system 60may comprise joints, wheels, gears, chains, strings, tracks or any othercomponents that can convert the mechanical movement generated by thedrive motor system 40 to a movement of the interfacing elements of thegroup. It is noted that the transmission system may use contact basedpower transmission (for example meshed gears) and, additionally oralternatively contactless based power transmission (for example magnetbased contactless power transmission).Stepper or servo motors may beused coupled with, for example, a clutch mechanism for fine tuning trackmovements or arms rotations.

The interfacing modules of the group 50 are arranged to interfacebetween the pool cleaning robot and the environment of the pool cleaningrobot. Non-limiting examples of interfacing modules include wheels,tracks (caterpillars), mechanical arms and the like.

The interface manipulator 70 is arranged to change a spatialrelationship between (a) the housing and (b) a selected interfacingmodule of the group, during an exit process during which the poolcleaning robot exits the pool. FIGS. 1A and 3A-3G illustrate a change ofspatial relationship that is achieved by rotation but other movementsbetween the housing and the selected interfacing module can beused—including linear movements or other non-rotational movements.

For simplicity of explanation it is assumed (and FIG. 1B shows) that thepool cleaning robot has four interfacing modules 51, 52, 53, 54.Assuming that the pool cleaning robot has a front end and a rear endthen the four interfacing modules include a right rear interfacingmodule 53, a left rear interfacing module 54, a right front interfacingmodule 51 and left front interfacing module 52.

It is noted that the interfacing module may differ by size, shape andtype. For example one or more interfacing modules may be a track whileyet at least one other interfacing module may be wheel.

It is further noted that the number of interfacing modules may exceedfour, may be between one and three.

It is further noted that the interfacing module may be arranged in asymmetrical or non-symmetrical manner in relation to the housing. Thenumber of interfacing modules per each side of the housing may be thesame or may differ from one side to another.

FIGS. 1A and 3A-3G illustrate a pool cleaning robot that has fourinterfacing modules 51-54 that are tracks. It is noted that additionaland/or other interfacing modules can be included in the pool cleaningrobot. For example—the front wheels may rotate while the rear tracks maybe fixed. This may be achieved by electronic means that are controlledby a controller that encompasses a gyroscope and/or other tilt sensorthat keeps the cleaning robot aligned. In addition, the movementillustrated in FIG. 3B and 3C shows a front arm rotation with—eventhough the rear tracks might be endlessly moving—and the rear arms maybe fixed and non-rotating.

FIGS. 1B illustrates that the drive system 30 has main portion 80 and anauxiliary portion 90. The main portion 80 is arranged to move the poolcleaning robot in relation to a bottom of the pool during cleaningoperations wherein the auxiliary portion 90 is arranged to move the poolcleaning robot during the exit process and during an entrance process.

It is noted that the auxiliary portion 90 may be used only during exitand/or entrance processes of the pool cleaning robot 10 (from and in thepool). Alternatively, the auxiliary portion 90 may also be used duringcleaning operations and movements that are not part of the exit and/orentrance processes of the pool cleaning robot 10.

When not used one or more interface modules of the auxiliary may bepositioned in a position in which they fully contact, only partiallycontact or do not contact the surface (such as a bottom of the pool) onwhich the pool cleaning robot moves. For example, interfacing modules 53and 54 may be positioned in an elevated state in which they do notcontact or only partially contact the bottom of the pool when the poolcleaning robot contacts that bottom.

The main portion 80 and the auxiliary portion 90 may share one or morecomponents or may each have only their own (not shared) distinctcomponents.

For example, both main portion 80 and auxiliary portion 90 may share thedrive motor system 40 although each of these portions (80 and 90) mayhave its separate engines.

In FIG. 1B the main portion 80 is shown as including front engine 40(1)of drive motor system 40, right front interfacing module 51, left frontinterfacing module 52 and a first portion 60(1) of the transmissionsystem 60.

Assuming that the interfacing modules are tracks then right frontinterfacing module 51 and left front interfacing module 52 may form afirst sub-group of tracks 50(1).

The auxiliary portion 90 is shown as including rear engine 40(2) ofdrive motor system 40, right rear interfacing module 53, left rearinterfacing module 54 and a second portion 60(2) of the transmissionsystem 60.

Assuming that the interfacing modules are tracks then right rearinterfacing module 51 and left rear interfacing module 52 may form asecond sub-group of tracks 50(2).

Referring to FIGS. 1A and 3A-3G, each one of interfacing modules 51-54is mounted on a pair of wheels (41(1) and 41(2)), (42(1) and 42(2)),(43(1) and 43(2)) and (44(1) and 44(2)) respectively and is rotated byat least one of the wheels of each pair of wheels.

These pairs of wheels (41(1) and 41(2)), (42(1) and 42(2)), (43(1) and43(2)) and (44(1) and 44(2)) are part of the transmission system 40.

The wheels of each pair of wheels differ from each other by size (forexample-wheels 41(1)-44(1) are bigger than wheels 41(2)-44(2)) but thewheels of each pair may be of the same size.

In FIGS. 1A and 3A-3G interfacing module 51 and wheels 41(1) and 41(2)positioned between (a) a sidewall of the housing 20 and (b) interfacingmodule 53 and wheels 53(1) and 53(2). It is noted that both interfacingmodules 51 and 53 may be positioned in different manners in relation toeach other. For example—both may be positioned at the same imaginaryplane.

In FIGS. 1A and 3A-3G interfacing module 52 and wheels 42(1) and 42(2)are positioned between (a) a sidewall of the housing 20 and (b)interfacing module 54 and wheels 44(1) and 44(2). It is noted that bothinterfacing modules 51 and 53 may be positioned in different manners inrelation to each other. For example—both may be positioned at the sameimaginary plane.

FIG. 1A and 3A illustrate the interfacing modules 51-54 in a foldedposition while FIGS. 3B-3F illustrate the interfacing modules 51-54 in anon-folded position.

When positioned in a folded position an overlap between an interfacingmodule and at least one of a housing 20 or another interfacing module issmaller than the corresponding overlap when in a non-folded position.

In FIGS. 1A and 3A all interfacing modules 51-54 are shown in a foldedposition in which they do not extend (or only slightly extend) outsidehousing 20.

In FIGS. 3B-3F all interfacing modules 51-54 are shown in a non-foldedposition in which they extend (substantially) outside housing 20.

It is noted that although FIGS. 1A and 3A-3G illustrate that allinterfacing modules 51-54 change their position during an exit processthis is not necessarily so and only some (or even none) of theinterfacing elements may change their position. The change in positioncan be an outcome of a rotation, a linear movement, a non-linearmovement or a combination thereof.

FIGS. 1A and 3A-3G illustrate each track as having externalprotuberances such as fins 51′-54′ that may be shaped and sized to meshand/or be attached to attached to corresponding protuberances (and/orvoids) formed in an interfacing device over which the pool cleaningrobot climbs during the exit process.

FIG. 1C illustrates a pool cleaning robot 10 that includes interfacingmodules that include add on attachment or molded—in elements such asferromagnetic elements 130 for attaching the pool cleaning robot to aninterface device that has corresponding magnets (of reverse polarity) orferromagnetic elements.

FIGS. 3A-3G illustrate an exit process of a robot according to anembodiment of the invention. The exit process may be reversed during anentrance process in which the pool cleaning robot enters the pool. Inthis case FIGS. 3A-3G illustrate (in a reverse order) an entranceprocess of a robot. It is noted that the entrance process may differfrom the exit process. For example, the pool cleaning robot may justdrive into the pool and enter the pool without contacting the poolsidewall interfacing element.

During the exit process the front tracks of the pool cleaning robotperform a clockwise rotation from being horizontal (parallel to the poolbottom) to be vertical (parallel to the pool sidewall interface) andthen perform a counterclockwise rotation from being vertical to beinghorizontal (parallel to the exterior surface interface). The rear tracksfollow the path of the front tracks with a certain delay.

FIG. 3A illustrates a pool cleaning robot 10 that moves on a bottom 320of a pool 300 towards an interfacing device 200 according to anembodiment of the invention. The pool cleaning robot may navigatetowards the interfacing device using any navigation method includingbeacon based navigation. It is noted that interfacing device 200 mayinclude a water sealed embedded battery operated two way communicationsrelay device comprising a PCB with aerial/antenna and Bluetoothcomponent that may enable two-way communications between the submergedcleaning robot and an external docking station and/or a portable device.

FIG. 3B illustrates a first phase of an exit process in which fronttracks 51 and 52 of pool cleaning robot 10 interface with a poolsidewall interface 220 of interfacing device 200 while a rear tracks 53and 54 of the pool cleaning robot 10 is positioned on the bottom 320 ofthe pool according to an embodiment of the invention. At the end of thefirst phase the pool cleaning robot did not start climbing but is readyfor climbing.

The upper part of front tracks 51 and 53 contact the pool sidewallinterface 220 while the lower part of front tracks does not contact thepool sidewall interface 220. Rear tracks 53 and 54 are placed on thebottom 320 of the pool 300. The pool sidewall interface 220 may have asmooth inner surface 221 or a non-smooth surface.

FIG. 3C illustrates a second phase of an exit process in which a poolcleaning robot 10 starts climbing a pool sidewall interface of aninterfacing device according to an embodiment of the invention.

In FIG. 3C the front of the pool cleaning robot is slightly elevated.

Front tracks 51 and 52 contact (and are parallel to) the pool sidewallinterface 220. Rear tracks are placed on the bottom 320 of the pool 300.

FIG. 3D illustrates a third phase of an exit process in which fronttracks 51 and 52 of the pool cleaning robot 10 interface with and areparallel to an external surface interface 210 of interfacing device 200.Rear tracks 53 and 54 interfaces with and are parallel to pool sidewallinterface 220 according to an embodiment of the invention.

It is noted that if the bottom of the pool and the exterior surface arespaced enough from each other then there may be a phase (between thethird and fourth phases) in which both front and rear tracks interfacewith the pool sidewall interface (and both may be parallel to eachother).

FIG. 3E illustrates a fourth phase of an exit process in which fronttracks 51 and 52 of the pool cleaning robot interface with and areoriented in relation to an external surface interface 210 while reartracks 53 and 54 of the pool cleaning robot interface with and areoriented to a pool sidewall interface 220 of an interfacing deviceaccording to an embodiment of the invention.

FIG. 3F illustrates a fifth phase of an exit process in which fronttracks 51 and 52 of the pool cleaning robot 10 partially pass anexternal surface interface 210 while rear tracks 53 and 54 of the poolcleaning robot 10 interface with and are oriented to a pool sidewallinterface 220 of an interfacing device 200 according to an embodiment ofthe invention;

FIG. 3G illustrates a sixth phase of an exit process in which the entirepool cleaning robot 10 is out of the pool according to an embodiment ofthe invention. When entering the pool the order of phases may bereversed.

Interfacing Device

FIGS. 2A-2C illustrate an interfacing device 200 according to anembodiment of the invention.

Interfacing device 200 may include pool sidewall interface 220 and anexternal surface interface 210 that may be oriented to each other (forexample by ninety degrees).

At least one (or none) of the external surface interface 210 and thepool sidewall interface 220 may include magnets such as magnets 224 ofpool sidewall interface 220.

At least one (or none) of the external surface interface 210 and thepool sidewall interface 220 may include (at its internal side)attachment elements such as adhesive elements (such as a double sidedadhesive tape), screws, vacuum nipples or suction cups 222 forconnecting the interfacing device 200 to the side wall of the pool andto the external surface.

It is noted that although FIGS. 2A-2C illustrates the interfacing deviceas including two non-flat sheets that other interfacing elements may beused. For example, at least one of the external surface interface andthe pool sidewall interface may be made of a group of elements (such asribs) that are connected to each other (in a detachable ornon-detachable manner).

The pool sidewall interface 220 of different lengths may be provided inorder to allow it to fit to pools of different depths or to providedifferent penetration levels to the fluid in the pool (at least 10 cmand even till the bottom of the pool). Alternatively, the pool sidewallinterface 220 may include multiple portions that can be connected toeach other in order to provide a pool sidewall interface of differentlengths (see, for example FIG. 2B).

At least one (or none) of the external surface interface 210 and thepool sidewall interface 220 may include a non-flat surface forinterfacing with the pool cleaning robot during the exit process.

FIGS. 2A-2C illustrate the external surface interface 210 as having fins211 that extend upwards and away from the pool. FIGS. 2B-2C illustratethe pool sidewall interface 220 as having fins 223 that extend upwards(while being not normal to the pool sidewall interface 220). These finsmay be integrated onto a slat strip that extend the entire width of thesidewall interface. The fins and/or the slats can be replaced by anyother sized and shaped protuberances. The length of the external surfaceinterface and/or the pool sidewall interface may be adjusted by theaddition or retraction of finned slats. Additionally or alternativelyone or more of the external surface interface 210 and the pool sidewallinterface 220 may include only depressions and/or a combination ofdepressions and protuberances. These figures also show that an edge ofinterfacing device—formed between the external surface interface 210 andthe pool sidewall interface there may be a roller 230—that may rotateabout its axis and may ease the exit process of the cleaning robot. Theroller 230 may be fastened to other parts of the interfacing device byrings and/or friction bearings or any other manner. The roller may havea cylindrical shape. There may be more than one roller. The roller maybe smooth or may have a non-smooth surface. The roller 230 may assist inthe contact with the bottom external surface “underbelly” of the poolcleaner (not shown) in order to reduce friction and enable a smooth androlled exit/entry of the pool cleaner.

The shape and size of any depressions and protuberances may match theshape and size of depressions and protuberances of the interfacingmodules.

System for Extracting a Pool Cleaning Robot

FIGS. 4A illustrates system 390 for extraction of a pool cleaning robotfrom a pool, according to an embodiment of the invention.

System 390 includes a pool cleaning robot interface 392 that is arrangedto be coupled to a pool cleaning robot during an exit process duringwhich the pool cleaning robot is extracted from the pool.

System 390 also includes a pool cleaning robot manipulator 394 that iscoupled to the pool cleaning robot interface, wherein the pool cleaningrobot manipulator is arranged to move the pool cleaning robot interfacebetween a first and second positions. For example—the pool cleaningrobot interface may be hook of FIG. 4B or the ramp 510 of FIG. 6A andthe pool cleaning robot manipulator may be an element (or elements) thatmove the hook (for example—other parks of the crane of FIG. 4B, theelevator of FIG. 6A).

When the pool cleaning robot interface 392 is at the first position andis coupled to the pool cleaning robot, the pool cleaning robot is withinthe pool (See, for example, FIG. 5B).

When the pool cleaning robot interface 392 is at the second position andis coupled to the pool cleaning robot, the pool cleaning robot ispositioned outside the pool (See, for example, FIGS. 5C and 5D).

According to various embodiments of the invention system 390 may includeone or more of the following modules: communication module 395, filtercleaning module 391, filter sanitizing module 393, propulsion module396, pool cleaning robot cleaner 397, pool cleaning robot chargingmodule 398, waste removal module 389 and power supply module 399. Thesemodules may be spaced apart to each other, proximate to each other,integrated together and the like.

The communication module 395 may communicate (directly or indirectly)with the pool cleaning robot—for example by sending beacons that mayallow the pool cleaning robot to perform beacon based navigation.Indirect communication may be executed by using intermediatecommunication devices such as a buoy, a submerged intermediatecommunication device, a partially submerged intermediate communicationdevice and the like.

The communication module 395 may communicate (directly or indirectly)with another device—for example a mobile device of a user. This mayallow a user to program the system 390, to receive status reports fromthe system, and the like.

The communication module 395 can include ultrasonic transceivers or lowfrequency radio for communication with the pool cleaning robot.

The filter cleaning module 391 is arranged to clean the filter. Module393 may direct ultraviolet radiation towards the filter and sanitize iteven without removing the filter from the pool cleaning robot. Thefilter may be removed and then cleaned. The removal may includeextracting the filter through the bottom of the pool cleaning robot, asillustrated in PCT patent application serial number PCT/IL2013/051055titled “AUTONOMOUS POOL CLEANING ROBOT” which is incorporated herein byreference.

Propulsion module 396 is arranged to move the system from one locationto the other.

Pool cleaning robot cleaner 397 is arranged to clean the pool cleaningrobot—at least its housing. The cleaning can be done using jets offluid. The fluid may be provided by coupling to any internal or externalpool water circulation system and receiving a pressurized stream offluid.

Charging module 398 is arranged to electrically charge the pool cleaningrobot—either in a contactless manner or using contact—connecting a powerline or cable to the pool cleaning robot.

FIG. 5A illustrates a first contactless charging element 450 that ispositioned on base. The first contactless charging element 450 isarranged to (a) be fed by an electrical supply module 451 and (b)generate an electromagnetic field during at least one period duringwhich a second contactless charging element of the pool cleaning robotis within a charging range from the first contactless charging element450. The electromagnetic field charges the second contactless chargingelement (denoted 114′ in FIG. 1B).

Crane

FIGS. 4B and 5A-5D illustrates the system as being (or including) acrane 400.

Thus, the hook 412 and rope 416′ of the crane act as pool cleaning robotinterface and other parts of the crane such as sheaves 414, telescopicarm 410, vertical arm 418 and winding drum 416 form the pool cleaningrobot manipulator. The telescopic arm 410 is arranged to move along ahorizontal axis. It is noted that the vertical arm 418 may also be atelescopic arm. It is noted that any arrangement of arms is possible.For example, the two arms may be replaced by a single arm that isoriented in relation to the horizon by an angle that differs from ninetydegrees. Alternatively, there may be more than two arms, one or botharms may differ from a telescopic arm.

The entire crane may be lowered to be positioned close or at level withthe base and built, for example, onto the elevated structure to performa pull-out of the pool cleaner by means of the winding drum 416 actingas winch that will roll-in the pool cleaner. This may be achieved bymeans of an interfacing device 200 that may be coupled or connected withthe base 420 through winding drum 416. The pool cleaner may climb ontothe sidewall interface, attach and cling onto it and be drawn outtowards the base 420 to exit the pool. This may be achieved by usinginterfacing modules group 50 or only two tracks (not shown) or wheelsequipped with suitably adapted threads—see FIG. 1D that illustrated acleaning robot 10 with four wheels 171, 172, 173 and 174—each wheel(also referred to as a drive wheel) may include a non-smooth exterior—itmay include threads of other protuberances—that may be shaped to fit anon-smooth surface of an interfacing device (such as interfacing device200 of FIGS. 2A-2C.

FIG. 4B and 5A-5D illustrate a crane that is movable (see for example,wheels 422). It can move the pool cleaning robot towards an externaldocking station 444 (FIG. 5A). Various modules illustrated in FIG. 4Acan be located within the docking station 444 and/or included withincrane 400 or connected to crane 400 For example, modules 399, 389, 398and 397 may be included in docking station 444. A non-limiting exampleof an external docking station is illustrated in US patent applicationSer. No. 61/992,247 titled “AUTONOMOUS POOL CLEANING ROBOT WITH ANEXTERNAL DOCKING STATION” which is incorporated herein by reference.

The crane 400 has a base 420 for receiving the pool cleaning robot aftersaid pool cleaning robot was lifted or exited from the pool. The base isillustrated as a flat surface that is surrounded from three sides by anelevated structure 430. Other bases may be used. For example—the basemay include at least one of the filter cleaning module 391 and filtersanitizing module 393.

It is noted that the base 420 may not be included in the crane 400. Inthis case the crane can position the pool cleaning robot at the base.Additionally or alternatively, the pool cleaning robot, after beingextracted from the pool can drive itself to the base 420. It is alsonoted that the base 420 may be an area of the external surface.

The base 420 may include a mechanism for conductive based charging (seefor example element 450 of FIG. 5A) or connection based charging whenthe robot is at its docking station and/or on its base. The base 420 mayreceive electrical power from various optional sources of power supplymodule 399 (or from a base power supply module) such as a transformerconnected to mains AC supply (depicted in FIG. 5A) and/or rechargeablebatteries that are fed by solar panels.

If base 420 is separated from the crane then each one of base 420 andcrane 400 may include at least one out of modules 391-399.

According to an embodiment of the invention at the end of the chargingprocess and/or replacing the filter and/or when the user wants to starta cleaning cycle, the pool cleaning robot can detect the location of theentrance to the pool using a sensor and the path to pass for enteringthe pool if the base and/or the docking station are spaced apart fromthe pool.

Alternatively, if the user placed the base close to the pool (forexample, 3 meters from the pool's edge) the robot can—upon receivingcommunication from pool cleaner to initiate pool cleaner exitprocedures—be directed and perform an approach to the pool edge using bytravelling on skids (denoted 770 in FIG. 5A) with wheels stoppers (notshown) at the skids' ends to prevent base and/or crane from accidentallycontinuing the travel and falling into the water. The skids and stoppermay also comprise a magnetic strip. Any element capable of stopping themovement of the pool cleaning robot may be used as a stopper.

The skids may be constructed from a foldable strip roll (not shown) thatis attached to the bottom of base 420 and to the front wheels 422 in amanner that the foldable skid strip will be automaticallydeployed/retracted the moment the embodiments of base 420 or crane 400or docking station 444 or system 470 are automatically set in either a,respectively, forward or a backward travel motion to or from the pool.

Power supply module 399 can include at least one out of input port 443and turbine 441 (rotated by fluid provided from a pool fluid circulationsystem or from a garden hose), and may include a battery 442′, acontroller (not shown), and the like.

According to an embodiment of the invention the crane can be powered atleast in part by a pool circulation system that is arranged to circulatefluid in the pool. Turbine 441 may be arranged to convert a flow offluid supplied by the pool circulation system or from a garden hose toan electrical power generator that is then fed to charge a batteryand/or drive an electrical motor. An example is illustrated in PCTpatent application PCT/IL2013/051055 which is incorporated herein byreference.

The propulsion module 396 may include motor 461 and a transmissionsystem 462. The transmission system 462 is arranged to couple the motor461 to winding drum 416 and to a wheels 442 or tracks of a propulsionmodule 396.

Interfacing Device Winding and Unwinding Mechanism

According to an embodiment of the invention there may be provided asystem that is arranged to provide an interfacing device on which thecleaning robot may climb when exiting the pool.

FIGS. 2A-2C illustrated an interfacing device 200 without showing howthe interfacing device 200 is positioned. It is noted that theinterfacing device 200 may be static, may be positioned by a person ormay be positioned and removed automatically.

FIG. 4C illustrates a system 470 that is arranged to wind and unwind aninterfacing device that may be interfaced by a pool cleaning robot oncethe pool cleaning robot exits the pool.

System 470 includes an interfacing device 200, winding and unwindingmechanism 471 and a propulsion module 396. It may include one or moreelements out of the elements (389, 391-299) illustrated in FIG. 4A.

Any winding and unwinding mechanism 417 known in the art may beprovided. The winding and unwinding mechanism may include one or moreshafts, one or more motors, one or more transmission mechanisms (such asgears), and the like. Non-limiting examples of winding and unwindingmechanisms are shown in US patent application 20130092779, US patentapplication 2010/0170032 of Sproatt, U.S. Pat. No. 4675922 of Colin, andUS patent application 20010034906 of Last, all being incorporated hereinby reference.

The interfacing device 200 is connected to a winding and unwindingmechanism 471 that is arranged to rotate a shaft in different directionsthereby winding or unwinding the interfacing device 200. The interfacingdevice 200 may be elastic and/or made of multiple parts (such as ribs orslats) that may move in relation to each other during the winding and/orunwinding mechanism. The winding and/or unwinding mechanism may use anymotor—hydraulic, electrical, solar powered, and the like

The interfacing device 200 may be unwound when the system 470 is in apredefined distance from the pool edge (that predefined distance may bethe length of the external surface interface 210 of interfacing device200). The external surface interface 210 is positioned on an externalsurface 330 that is external to the pool.

System 470 may be driven to another predefined distance (forexample—1,2,3 meters from the edge of the pool) after the interfacingdevice 200 is not in use (and is wrapped around the shaft).

The winding and unwinding mechanism 471 that is arranged to rotate ashaft may include a pool cleaner electrical power cable winding drum.

Elevator

FIGS. 6A-6B, 7A-7C, 8A-8F and 9A-9E illustrates the system as being anelevator.

Referring to FIGS. 6A-6B and 7A-7C, the elevator 500 includes a poolcleaning robot interface such as a ramp 510 on which the pool cleaningrobot can mount and also includes a pool cleaning robot manipulator thatinclude other elements of the elevator 500 that may lower or elevate theramp 510. The depicted ramp may be of a different configuration/shapesuch as arms, gripper and the like. The ramp 510 may include acontactless charging element 515 that may wirelessly charge the cleaningrobot once the cleaning robot is on the ramp 510.

The elevator 500 can be fed by fluid (via conduit 540) from the poolcirculation system or from another source (for example from a pipe orhose 540 of a garden irrigation system). The fluid flows through a fluidpath and may enter the pool thereby rotating a turbine that generateselectricity to be fed to a motor of the elevator or to a battery thatmay feed that motor. The fluid flow may activate pistons of a watermotor providing the necessary torque to rotate a shaft and gearmechanism that will operate the elevator. A non-limiting example of awater motor is illustrated in US patent application Ser. No. 13/275,359titled “Pool Cover Winding System Using Water-Powered Piston Motor”which is incorporated herein by reference.

According to an embodiment of the invention the elevator may include anelevator housing (530 in FIG. 6A,) that may at least partially surroundan elevator motor (760 in FIG. 8A-8C and in FIG. 9), elevatortransmission system (collectively denoted 750 in FIG. 8A) and anelevating and descending interface (denoted 520 in FIGS. 6A, and 8A,)that is elevated and is descended by the transmission system and isconnected to a pool cleaning robot interface (such as ramp 510 of FIGS.6A, 7A-7C, 8A,8B and 9) that supports a pool cleaning robot that iselevated and/or descended by the elevator.

The elevator housing (530 in FIG. 6A) is shown as being partiallycovered by a pair of covers 622 and 624. Elevating and descendinginterface 520 may extend through a gap formed between these covers 622and 624.

The elevator housing may be vertical rod or plastic central hollow tube(denoted 530 in FIG. 6A) having its bottom touching the bottom of thepool—or positioned above the bottom without contacting the bottom.

The elevator housing can be made modular, telescopic and the like. Itmay be of fixed or variable length. The elevator housing may be made ofseveral plastic tubes which are connected to each other. A user candetermine the aggregate length of the elevator housing in response tothe position of the elevator in the pool in response to the depth of thewater. The elevator housing can be secured to a pool sidewall usingrubber or plastic clamps and one or more suction cups securing thecoupling side.

The elevator housing may include a buffering element such as a partiallyoverlapping safety curtain-that can be seen in FIG. 6A. Its purpose isto both protect the internal elevator housing mechanisms from dirtpenetration and from easy access to said mechanism and its moving parts.

FIGS. 7A-7C illustrate the pool cleaning robot that is positioned on aramp 510 that is positioned in proximity to the bottom of the pool—at alowest point. FIG. 7B illustrate the pool cleaning robot that ispositioned on a ramp 510 that is positioned in proximity to the upperedge of the sidewall of the pool—at a highest point. The pool cleaningrobot may then exit the ramp and drive to a docking station.

Any type of elevator may be provided. The elevator may be powered byelectricity (it may receive power via a submerged or above the watercord) and/or may generate its own power using a hydroelectric systemthat may include a turbine that is rotated by a flow of fluid emanatingfrom a water garden hose. A water motor may be positioned externallyabove water or submerged inside the elevator housing providing thenecessary torque.

The ramp 510 can be activated by using water pressure—based on the useof water which is injected to the pool through the jets which areleading filtered water from the main pool filter. At about the middle ofthe tube there is an opening that includes a flexible rubber hose whichis pressure- and chemicals resistant and is connected to the jetemission. The mechanism inside the elevator housing may be arranged toconvert water pressure jet power to mechanical power to operate agenerator that will supply and store electrical power in the battery 704in which can power a motor to move the ramp up and down. When the rampis not in operation, there is a bypass valve allowing jet water to flowfreely back to the pool.

Inside the housing there may be provided a turbine that will motivatepropulsion machinery—by Gear and chalk/axis snail—a central axis whichis to be connected to the ramp and that will drive the axle and ramp up,down and round. The ramp can be moved towards the top and/or bottom ofthe pipe and to rotate (for example by 180 degrees) to allow robot to godown the ramp onto the pool edge or deck. The snail mechanism can beplaced at the top of the tube, it will be activated electrically and bemanaged by using sensors (pressure) and an electronic control unit.

The system can be connected and dismantled using a quick and simpleUniversal connection to the jet and/or pool walls.

The elevator can be fed from the hydraulic power of the jet, can bepowered by an engine and/or dedicated gear.

The download/upload of the robot to/out of the pool can be controllerand/or monitored by a human using remote control/communication.

FIGS. 8A-8C and 9 illustrate an electrical motor 760 that is coupled toa turbine 702 and a generator/battery 704 for receiving and storingpower. The motor may be a water motor, a turbine (withoutgenerator/battery 704.

FIGS. 8A-8C and 9 illustrate a transmission system 750 that includes arotating rod 740 that ends with a first gear 742, first and secondintermediate gears 752 and 754 that are connected to each other by apole 753 and a motor gear 762 that is rotated by motor 760. Motor gear762 meshes with second intermediate gear 754 to form a firsttransmission. First intermediate gear 752 and first gear 742 mesh witheach other to provide a second transmission.

The motor 750 rotates the motor gear and the first and secondtransmissions cause first gear to rotate and thereby rotate rotating rod740. The entire transmission system 750 may be located inside theelevator housing underneath elevator head 570.

The rotation of the rotating rod 740 causes the elevating and descendinginterface 520 to elevate or descend. For example—the direction ofmovement may depend upon the direction of rotation of the rotating rod.Any type of transmission of transmitting the rotation of rotating rod740 to a change in the height of the elevating and descending interface520 can be used, including spiral or helical winding and includingsupporting/aligning or guiding mechanism

When the ramp reaches above the edge of the pool it may be automaticallyrotated (for example by 180 degrees) so as to face the exterior of thepool but it may also remain static or perform any other movement.

FIG. 9 illustrates a transmission system 650 that is connected betweenmotor 560 and elevating and lower wheel 640. An elevating and descendinginterface includes a vertical plate 631 is connected to a loop 690 of arope/cable that is rotated by the lower wheel 640 that is rotated by thetransmission system 680. The vertical plate 631 is connected to a rampinterface 632 that is connected to ramp 510.

The upper wheel 680 rotates about axis 682 which is supported by anupper support element (not shown) that enables it to rotate whilemaintaining a distance from the lower wheel that is connected to a gearof the transmission system 650.

The lower wheel 640 may rotate about a lower axis (not shown) which isconnected to a beveled gear 562 that meshes with (and is rotated by)motor gear 564—both gears belong to the transmission system 560. Motor560 rotates the motor gear 564 that in turn rotates the lower wheel 640that rotate (by loop 690) the upper wheel 680.

The rotation of the rope causes the elevating and descending interface630 to be elevated or be descended—according to the direction ofrotation.

The elevator of any one of FIGS. 6A-6B, 7A-7C, 8A-8C and 9 may havesensors (for example pressure sensors or proximity sensors) for sensingwhen the pool cleaning robot positioned itself on ramp 510. This maytrigger the elevation of the pool cleaning robot (when ramp is in itsdownward position) or a descending of the pool cleaning robot (when thepool cleaning robot moves from an exterior of the pool on the ramp).

Any elevator may be programmed, locally controlled or remote controlled.FIGures

FIGS. 6A-6B illustrates elevator 500 as being connected by wire 550 to aprogramming console with or without a power supply 560 (which can be adedicated device or a general purpose device such as a laptop, a mobilephone and the like). It is noted the wire is an example and wirelesscommunication can be provided.

FIGS. 6A-6B illustrates elevator 500 as having an elevator head 570 thatmay be outside the water and provide an interface with a water gardenhose for receiving fluid that may comprise a set of solenoids to directwater flows to activate a hydraulic motor for an automatic or manualascent or descent of ramp 510 as per programming console 560 such asillustrated for example in FIGS. 13,14 and 15 and/or in PatentApplication No. U.S. Ser. No. 13/275,359 titled Pool Cover WindingSystem Using Water-Powered Piston Motor and which is herein incorporatedin its entirety; and an interface with communication and/or powercables. A controller 572 of the elevator, in conjunction or withoutconjunction to programming console 560, may be positioned in theelevator head 570 or in any other location.

The ramp 510 may include a pressure sensor 511 which activates themechanism for rotating ramp to be positioned at a certain distance fromthe edge of the pool. After alignment, the ramp 510 may begin to declineslowly into the water to the bottom of the pool. The slowness isdesigned to allow either trapped air to escape from the pool cleaningrobot body or for trapped water to exit said body. When the ramp reachesits lowest or highest position the robot drives away from the ramp.

The robot, after a completion of a pool cleaning cycle may detect—usinga sensor (or without a sensor)—the position of the ramp and then travelto it and settle on it. A pressure sensor of the ramp activates themechanism that raises the ramp. When the ramp reaches the head of therod/main elevator housing the robot can be rotated (by the ramp) (forexample by 180 degrees)—from the inner side of the pool to the outerside of the pool onto the pool deck. The robot can then navigate andmove itself towards the docking station.

Managing Waste

The robot or the docking station can detect full filters (at least fullor clogged at a certain level). The fullness level can be sensed bysensors, suction sensing and the like).

These filters, after being outputted from the robot can be eithermanually or automatically taken away from the docking station or robot.

The robot may include within its housing and near the filter a UVC bulbfor irradiating the filters.

The robot can be equipped with an option to receive commands/datatransfer mechanism transmits/receives underwater, underwater transmitterto the receptor transmits/receives out of the water to the power supplyand/or remote control/smartphones. The remote control can be suppliedand dedicated to the robot or can be a general purpose device such as asmartphone.

When the robot undergoes an automatic cleaning cycle, the remote controlcan be used for manually control the robot. The robot can also enableand change parameters of different cleaning programs such as cleaningcycle time, climbing wall or no wall climbing, traveling slower for athorough cleaning or a quick trip, running the robot in delay and more.

The remote control can communicate directly or indirectly with therobot.

The robot can communicate with sensors, intermediate communicationdevices that receive or transmit activation commands and/or data from/tothe user. The power supply may include a mechanism for Bluetooth, whichcan transmit to a dedicated server.

Buoy—the buoy may be used for exchanging operating commands and/or datato the robot. In the foregoing specification, the invention has beendescribed with reference to specific examples of embodiments of theinvention. It will, however, be evident that various modifications andchanges may be made therein without departing from the broader spiritand scope of the invention as set forth in the appended claims.

Moreover, the terms “front, ” “back, ” “top, ” “bottom, ” “over, ”“under ” and the like in the description and in the claims, if any, areused for descriptive purposes and not necessarily for describingpermanent relative positions. It is understood that the terms so usedare interchangeable under appropriate circumstances such that theembodiments of the invention described herein are, for example, capableof operation in other orientations than those illustrated or otherwisedescribed herein.

Those skilled in the art will recognize that the boundaries betweenlogic blocks are merely illustrative and that alternative embodimentsmay merge logic blocks or circuit elements or impose an alternatedecomposition of functionality upon various logic blocks or circuitelements. Thus, it is to be understood that the architectures depictedherein are merely exemplary, and that in fact many other architecturescan be implemented which achieve the same functionality.

Any arrangement of components to achieve the same functionality iseffectively “associated” such that the desired functionality isachieved. Hence, any two components herein combined to achieve aparticular functionality can be seen as “associated with ” each othersuch that the desired functionality is achieved, irrespective ofarchitectures or intermedial components. Likewise, any two components soassociated can also be viewed as being “operably connected, ” or“operably coupled, ” to each other to achieve the desired functionality.

Furthermore, those skilled in the art will recognize that boundariesbetween the above described operations merely illustrative. The multipleoperations may be combined into a single operation, a single operationmay be distributed in additional operations and operations may beexecuted at least partially overlapping in time. Moreover, alternativeembodiments may include multiple instances of a particular operation,and the order of operations may be altered in various other embodiments.

Also for example, in one embodiment, the illustrated examples may beimplemented as circuitry located on a single integrated circuit orwithin a same device. Alternatively, the examples may be implemented asany number of separate integrated circuits or separate devicesinterconnected with each other in a suitable manner

Also for example, the examples, or portions thereof, may implemented assoft or code representations of physical circuitry or of logicalrepresentations convertible into physical circuitry, such as in ahardware description language of any appropriate type.

Also, the invention is not limited to physical devices or unitsimplemented in non-programmable hardware but can also be applied inprogrammable devices or units able to perform the desired devicefunctions by operating in accordance with suitable program code, such asmainframes, minicomputers, servers, workstations, personal computers,notepads, personal digital assistants, electronic games, automotive andother embedded systems, cell phones and various other wireless devices,commonly denoted in this application as ‘computer systems’.

However, other modifications, variations and alternatives are alsopossible. The specifications and drawings are, accordingly, to beregarded in an illustrative rather than in a restrictive sense.

In the claims, any reference signs placed between parentheses shall notbe construed as limiting the claim. The word ‘comprising’ does notexclude the presence of other elements or steps then those listed in aclaim. Furthermore, the terms “a ” or “an, ” as used herein, are definedas one or more than one. Also, the use of introductory phrases such as“at least one ” and “one or more ” in the claims should not be construedto imply that the introduction of another claim element by theindefinite articles “a ” or “an ” limits any particular claim containingsuch introduced claim element to inventions containing only one suchelement, even when the same claim includes the introductory phrases “oneor more ” or “at least one ” and indefinite articles such as “a ” or“an. ” The same holds true for the use of definite articles. Unlessstated otherwise, terms such as “first” and “second ” are used toarbitrarily distinguish between the elements such terms describe. Thus,these terms are not necessarily intended to indicate temporal or otherprioritization of such elements the mere fact that certain measures arerecited in mutually different claims does not indicate that acombination of these measures cannot be used to advantage.

Any system, apparatus or device referred to this patent applicationincludes at least one hardware component.

While certain features of the invention have been illustrated anddescribed herein, many modifications, substitutions, changes, andequivalents will now occur to those of ordinary skill in the art. It is,therefore, to be understood that the appended claims are intended tocover all such modifications and changes as fall within the true spiritof the invention.

We claim:
 1. A kit, comprising a pool cleaning robot and an interfacingdevice; wherein the interfacing device comprises a pool sidewallinterface; wherein the pool cleaning robot comprises a housing and adrive system; wherein the drive system comprises a drive motor system, agroup of interfacing modules and a transmission system that is arrangedto mechanically couple the drive motor system to the group ofinterfacing modules; and wherein at least one interfacing module of thegroup comprises protuberances that are shaped to fit a non-smoothsurface of the pool sidewall interface.
 2. The kit according to claim 1,wherein the non-smooth surface of the pool sidewall interface comprisespool sidewall interface protuberances that extend upwards at anon-normal degree to a horizon; and wherein protuberances of the atleast one interfacing module of the group that face the pool sidewallinterface extend downwards at a non-normal degree to a horizon.
 3. Thekit according to claim 2, wherein the pool sidewall interfaceprotuberances that extend upwards are upward oriented teeth.
 4. The kitaccording to claim 2, wherein a sidewall interface protuberancescomprises an upper surface that extend upwards and a lower surface thatextends upwards.
 5. The kit according to claim 1, wherein the at leastone interfacing module of the group is a wheel.
 6. The kit according toclaim 1, wherein the at least one interfacing module of the group is atrack.
 7. The kit according to claim 1, wherein the interfacing devicecomprises an external surface interface.
 8. The kit according to claim7, wherein the external surface interface is rotatably coupled to thesidewall interface.
 9. The kit according to claim 7, wherein theexternal surface interface wherein the at least one interfacing moduleof the group comprises protuberances are also shaped to fit a non-smoothsurface of the external surface interface.
 10. The kit according toclaim 7, wherein the non-smooth surface of the external interfacecomprises external interface protuberances that extend away from thepool sidewall interface and wherein protuberances of the at least oneinterfacing module of the group that face the external interface extendtowards the pool sidewall interface.
 11. The kit according to claim 7,wherein each one of the external surface interface and the pool sidewallinterface has a non-flat surface for interfacing with the pool cleaningrobot during the exit process.
 12. The kit according to claim 7, whereinthe pool cleaning robot comprises an interface manipulator is arrangedto change a spatial relationship between (a) the housing and (b) aselected interfacing module of the group, during an exit process duringwhich the pool cleaning robot is configured to climb the pool sidewallinterface and exit the pool.
 13. The kit according to claim 1, whereinthe pool sidewall interface comprises transmitters for transmittingbeacons to the pool cleaning robot; wherein the pool cleaning robotcomprises a receiver for receiving the beacons and a controller fornavigating the pool cleaning robot towards the pool sidewall interfacein response to the beacons.
 14. The kit according to claim 14 whereinthe pool sidewall interface comprises a buoy for exchanging operatingcommands and data with the robot.
 15. The kit according to claim 1,wherein the interfacing device is shaped as a foldable mat.
 16. The kitaccording to claim 1, wherein the pool sidewall interface comprisessuction cups for coupling the pool sidewall interface to the sidewall ofthe pool.
 17. A kit, comprising a pool cleaning robot and an interfacingdevice; wherein the interfacing device comprises a pool sidewallinterface; wherein the pool cleaning robot comprises a housing and adrive system; wherein the drive system comprises a drive motor system, agroup of interfacing modules and a transmission system that is arrangedto mechanically couple the drive motor system to the group ofinterfacing modules; wherein a non-smooth surface of the pool sidewallinterface comprises pool sidewall interface protuberances that extendupwards at a non-normal degree to a horizon; and wherein protuberancesof the at least one interfacing module of the group that face the poolsidewall interface extend downwards at a non-normal degree to a horizon.18. A method, comprising: climbing a pool sidewall interface by a poolcleaning robot, while the pool sidewall interface contacts a sidewall ofthe pool; wherein the pool cleaning robot comprises a housing and adrive system; wherein the drive system comprises a drive motor system, agroup of interfacing modules and a transmission system that is arrangedto mechanically couple the drive motor system to the group ofinterfacing modules; and wherein during the climbing protuberances of atleast one interfacing module of the group are supported by a non-smoothsurface of the pool sidewall interface.
 19. The method according toclaim 18, wherein the non-smooth surface of the pool sidewall interfacecomprises pool sidewall interface protuberances that extend upwards at anon-normal degree to a horizon; and wherein protuberances of the atleast one interfacing module of the group that face the pool sidewallinterface extend downwards at a non-normal degree to a horizon.
 20. Apool cleaning robot; wherein the pool cleaning robot comprises a housingand a drive system; an inlet and outlet, a filtering unit within a fluidpath wherein the drive system comprises a drive motor system, a group ofinterfacing modules and a transmission system that is arranged tomechanically couple the drive motor system to the group of interfacingmodules; wherein protuberances of the at least one interfacing module ofthe group that are not facing the housing extend towards a rear end ofthe housing and wherein during the climbing protuberances of at leastone interfacing module of the group are supported by a non-smoothsurface of the pool sidewall interface.
 21. The pool cleaning robotaccording to claim 20, wherein the at least one interfacing module ofthe group is a wheel.
 22. The pool cleaning robot according to claim 20,wherein the at least one interfacing module of the group is a track.